CN109544894A - Control method, unmanned plane and remote control equipment - Google Patents
Control method, unmanned plane and remote control equipment Download PDFInfo
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- CN109544894A CN109544894A CN201910043428.7A CN201910043428A CN109544894A CN 109544894 A CN109544894 A CN 109544894A CN 201910043428 A CN201910043428 A CN 201910043428A CN 109544894 A CN109544894 A CN 109544894A
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- 238000000034 method Methods 0.000 title claims abstract description 73
- 230000008054 signal transmission Effects 0.000 claims abstract description 66
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- 238000012360 testing method Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 9
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1853—Satellite systems for providing telephony service to a mobile station, i.e. mobile satellite service
- H04B7/18532—Arrangements for managing transmission, i.e. for transporting data or a signalling message
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/90—Additional features
- G08C2201/91—Remote control based on location and proximity
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Astronomy & Astrophysics (AREA)
- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Control method of the invention is used to control the signal transmission power of unmanned plane or remote control equipment.Control method includes: to judge that the remote control distance between unmanned plane and remote control equipment is to increase or reduce；When remote control distance increases, increase or keep the signal transmission power of unmanned plane or/and remote control equipment；And when remote control distance is reduced, reduce or keep the signal transmission power of unmanned plane or/and remote control equipment.Control method of the invention reduces the transmission power of unmanned plane and remote control equipment, on the one hand can save the energy of unmanned plane and remote control equipment, avoid wasting under the premise of ensuring that the signal between unmanned plane and remote control equipment can be transmitted normally.The invention also discloses a kind of unmanned plane and a kind of remote control equipments.
Description
Technical field
The present invention relates to consumer electronics technology, in particular to a kind of control method, unmanned plane and remote control equipment.
Background technique
The radiofrequency signal of unmanned plane and remote control equipment remains maximum power transmission, can guarantee when remote in this way
Picture signal and the control good transmitting of signal, but in plane-hop it is entirely a kind of energy dissipation, while for a long time
Remain that maximum power transmission has larger electromagnetic radiation to human body near remote control equipment, in addition to periphery electromagnetic environment
All also have very big interference effect.
Summary of the invention
The embodiment of the present invention provides a kind of control method, control device and electronic device.
The present invention provides the signal transmission power that a kind of control method is used to control unmanned plane or remote control equipment, the control
Method the following steps are included:
Judge that the remote control distance between the unmanned plane and the remote control equipment is to increase or reduce；
When the remote control distance increases, increases or the signal of the unmanned plane or/and the remote control equipment is kept to emit
Power；And
When the remote control distance is reduced, reduces or the signal of the unmanned plane or/and the remote control equipment is kept to emit
Power.
The unmanned plane of embodiment of the present invention includes:
Processor, for judging that the remote control distance between the unmanned plane and the remote control equipment is to increase or reduce；
And
Transmitter is used for:
When the remote control distance increases, increases or the signal of the unmanned plane or/and the remote control equipment is kept to emit
Power；Or
When the remote control distance is reduced, reduces or the signal of the unmanned plane or/and the remote control equipment is kept to emit
Power.
The remote control equipment of embodiment of the present invention includes:
Processor, for judging that the remote control distance between the remote control equipment and unmanned plane is to increase or reduce；And
Transmitter is used for:
When the remote control distance increases, increases or the signal of the unmanned plane or/and the remote control equipment is kept to emit
Power；Or
When the remote control distance is reduced, reduces or the signal of the unmanned plane or/and the remote control equipment is kept to emit
Power.
Control method, unmanned plane and the remote control equipment of embodiment of the present invention, when distant between unmanned plane and remote control equipment
When control distance increases, controls unmanned plane or/and remote control equipment increases respectively or keep the transmission power of signal；When unmanned plane and distant
When remote control distance between control equipment is smaller, controls unmanned plane or/and remote control equipment respectively reduces or keep the transmitting function of signal
Rate.In this way, reducing unmanned plane and remote control under the premise of ensuring that the signal between unmanned plane and remote control equipment can be transmitted normally
On the one hand the transmission power of equipment can save the energy of unmanned plane and remote control equipment, avoid wasting；On the other hand, it avoids beginning
It keeps maximum power to emit signal eventually, reduces transmission power to the electromagnetic radiation of human body near remote control equipment, while
Reduce the interference to periphery electromagnetic environment.
The additional aspect and advantage of embodiments of the present invention will be set forth in part in the description, partially will be from following
Description in become obvious, or the practice of embodiment through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention is from combining in description of the following accompanying drawings to embodiment by change
It obtains obviously and is readily appreciated that, in which:
Fig. 1 is the flow diagram of the control method of certain embodiments of the present invention；
Fig. 2 is the unmanned plane of certain embodiments of the present invention and the functional block diagram of remote controler；
Fig. 3 is the flow diagram of the control method of certain embodiments of the present invention；
Fig. 4 is the unmanned plane of certain embodiments of the present invention and the functional block diagram of remote controler；
Fig. 5 is the flow diagram of the control method of certain embodiments of the present invention；
Fig. 6 is the functional block diagram of the unmanned plane of certain embodiments of the present invention；
Fig. 7 is the functional block diagram of the remote control equipment of certain embodiments of the present invention；
Fig. 8 is the unmanned plane of certain embodiments of the present invention and the functional block diagram of remote controler；
Fig. 9 is the flow diagram of the control method of certain embodiments of the present invention；
Figure 10 is the flow diagram of the control method of certain embodiments of the present invention；
Figure 11 is the unmanned plane of certain embodiments of the present invention and the functional block diagram of remote controler；
Figure 12 is the flow diagram of the control method of certain embodiments of the present invention；
Figure 13 is the flow diagram of the control method of certain embodiments of the present invention；
Figure 14 is the flow diagram of the control method of certain embodiments of the present invention.
Main element symbol Detailed description of the invention:
Unmanned plane 100, first processor 10, the first transmitter 12, first distance detector 14, global positioning system 142,
Barometer 144, the first calculator 146, first memory 16, the first signal receiver 18, remote control equipment 200, second processor
20, the second transmitter 22, distance detector 24, horizontal distance obtain module 242, height obtains module 244, the second calculator
246, second memory 26, second signal receiver 28.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indication or suggestion relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include one or more feature.In description of the invention
In, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected or can be in communication with each other；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field
For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Following disclosure provides many different embodiments or example is used to realize different structure of the invention.In order to
Simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
Fig. 1 and Fig. 2 is please referred to, the control method of embodiment of the present invention is set for controlling unmanned plane 100 or/and remote control
Standby 200 signal transmission power.Control method the following steps are included:
S1 judges that the remote control distance D between unmanned plane 100 and remote control equipment 200 is to increase or reduce；
S2 increases when remote control distance D increases or the signal of unmanned plane 100 or/and remote control equipment 200 is kept to emit function
Rate；And
S3 reduces when remote control distance D is reduced or the signal of unmanned plane 100 or/and remote control equipment 200 is kept to emit function
Rate.
In some embodiments, judge the remote control distance D between unmanned plane 100 and remote control equipment 200 be increase or
Reduce directly to be changed according to the distance between unmanned plane 100 and remote control equipment 200 and judge, for example, according to distance detector
Equal elements directly calculate the distance between unmanned plane 100 and remote control equipment 200.Judge between unmanned plane 100 and remote control equipment 200
Remote control distance D be increase or reduce can also according to can reflect indirectly between unmanned plane 100 and remote control equipment 200 away from
From variation parameter judgement, for example, due to when between unmanned plane 100 and remote control equipment 200 distance increase when, unmanned plane 100 with
The signal-to-noise ratio of the signal transmitted between remote control equipment 200 reduces；When distance reduces between unmanned plane 100 and remote control equipment 200,
The signal-to-noise ratio of the signal transmitted between unmanned plane 100 and remote control equipment 200 increases.Therefore, it is possible to use unmanned plane 100 and remote control
The signal-to-noise ratio of 200 received signal of equipment as be able to reflect distance between unmanned plane 100 and remote control equipment 200 be increase or
Reduced parameter uses.
Referring to Fig. 2, above-mentioned control method can be executed by unmanned plane 100, specifically, an embodiment of the present invention
Unmanned plane 100 may include first processor 10 and the first transmitter 12, and first processor 10 is for executing step S1, the first transmitting
Machine 12 is for executing step S2 and S3.First processor 10 is electrically connected with the first transmitter 12, and first processor 10 can control
First transmitter 12 changes transmission power.That is, first processor 10 is for judging unmanned plane 100 and remote control equipment 200
Between remote control distance D be increase or reduce.First transmitter 12 is used to increase or keep nothing when remote control distance D increases
Man-machine 100 or/and remote control equipment 200 signal transmission power, the first transmitter 12 be also used to remote control distance D reduce when, subtract
Signal transmission power that is small or keeping unmanned plane 100 or/and remote control equipment 200.
Please refer to figure 2, and above-mentioned control method can also be executed by remote control equipment 200, and specifically, the present invention one is real
The remote control equipment 200 for applying mode may include second processor 20 and the second transmitter 22, and second processor 20 is for executing step
S1, the second transmitter 22 is for executing step S2 and S3.Second processor 20 is electrically connected with the second transmitter 22, second processor
20, which can control the second transmitter 22, changes transmission power.That is, second processor 20 for judge unmanned plane 100 with it is distant
Remote control distance D between control equipment 200 is to increase or reduce.Second transmitter 22 is used to increase when remote control distance D increases
Or the signal transmission power of unmanned plane 100 or/and remote control equipment 200 is kept, the second transmitter 22 is also used to subtract in remote control distance D
When few, reduce or keep the signal transmission power of unmanned plane 100 or/and remote control equipment 200.In some embodiments, it is remotely controlled
Equipment 200 includes mobile phone, remote controler, smartwatch, intelligent glasses, intelligent helmet etc. with any in the terminal of control function
It is a kind of.
Control method, unmanned plane 100 and the remote control equipment 200 of embodiment of the present invention are used for: when unmanned plane 100 and remote control
When remote control distance D between equipment 200 increases, controls unmanned plane 100 or/and remote control equipment 200 increases respectively or keep signal
Transmission power；When the remote control distance D between unmanned plane 100 and remote control equipment 200 is smaller, unmanned plane 100 or/and distant is controlled
Control equipment 200 respectively reduces or keeps the transmission power of signal.In this way, ensuring between unmanned plane 100 and remote control equipment 200
Under the premise of signal can be transmitted normally, reduces the transmission power of unmanned plane 100 and remote control equipment 200, on the one hand can save
The energy of unmanned plane 100 and remote control equipment 200 avoids wasting；On the other hand, it avoids remaining maximum power to emit letter
Number, reduce transmission power to the electromagnetic radiation of human body near remote control equipment 200, while also reducing to periphery electromagnetic environment
Interference.
Referring to Fig. 3, in some embodiments, control method is further comprising the steps of:
S4 detects the remote control distance D between unmanned plane 100 and remote control equipment 200.Specifically, unmanned plane 100 is set with remote control
Air line distance of the remote control distance between unmanned plane 100 and remote control equipment 200 between standby 200.Generally, control method
Step S4 is first carried out and executes step S1 and step S2 or S3 again.
Referring to Fig. 4, above-mentioned control method can also be executed by unmanned plane 100, specifically, in certain embodiments
In, unmanned plane 100 can further include first distance detector 14, and first distance detector 14 is for executing step S4.That is,
First distance detector 14 is used to detect the remote control distance D between unmanned plane 100 and remote control equipment 200.First distance detector
14 are electrically connected with first processor 10, the remote control between unmanned plane 100 and remote control equipment 200 that first distance detector 14 obtains
Distance D can be transmitted to first processor 10.
In some embodiments, above-mentioned control method can also be executed by remote control equipment 200, and specifically, remote control is set
Standby 200 can further include second distance detector 24, and second distance detector 24 is for executing step S4.That is, second away from
It is used to detect the remote control distance D between unmanned plane 100 and remote control equipment 200 from detector 24.Second distance detector 24 and
The electrical connection of two processors 20, the remote control distance D between unmanned plane 100 and remote control equipment 200 that second distance detector 24 obtains
Second processor 20 can be transmitted to.
In some embodiments, first distance detector 14 and second distance detector 24 are range sensor.?
In certain embodiments, first distance detector 14 and second distance detector 24 are discrete component, as infrared ray distance passes
Sensor, ultrasonic distance sensor, TOF sensor etc., remote control distance D between unmanned plane 100 and remote control equipment 200 can be with
It is directly detected and is obtained by above-mentioned range sensor.In other embodiments, first distance detector 14 and second distance are examined
Surveying device 24 can also be made up of multiple elements, e.g., global positioning system, barometer and processor composition, unmanned plane 100 and remote control
Remote control distance D between equipment 200 can be obtained jointly by multiple element.Certain remote control distance D can also pass through its other party
Formula obtains, for example, unmanned plane 100 emits a time signal, such as 9:00, second distance detector 24 to remote control equipment 200
By receiving the time signal, obtain time when receiving the time signal, such as 9:05 and by calculating two time
Simultaneously remote control distance D between unmanned plane 100 and remote control equipment 200 is calculated according to signaling rate in difference (5 minutes).Certainly
First distance detector 14 can also be obtained by identical method.
In this way, unmanned plane 100 and remote control equipment 200 can be detected by first distance detector 14 and second distance respectively
Device 24 directly detects the distance between unmanned plane 100 and remote control equipment 200.
Unmanned plane 100 and remote control equipment 200 are distinguished by first distance detector 14 and second distance detector 24 respectively
Detection distance between the two, convenient for unmanned plane 100 and remote control equipment 200 detected according to the two at a distance from change in time respectively
Become the transmission power of unmanned plane 100 and remote control equipment 200.
Referring to Fig. 5, in some embodiments, step S4, that is, detection unmanned plane 100 and remote control equipment 200 it
Between remote control distance D the step of include:
S41 obtains horizontal distance of the unmanned plane 100 with respect to remote control equipment 200；
S42 obtains height of the unmanned plane 100 with respect to remote control equipment 200；And
S43 calculates remote control distance D according to horizontal distance and height.
The sequencing that wherein step S41 is executed with step S42 does not limit, for example, step S41 can be same with step S42
Step executes；Either: step S41 is executed before or after step S42, and step S41 and step S42 is just held after the completion of being carried out
Row step S43.
Referring to Fig. 6, above-mentioned control method can also be executed by unmanned plane 100, specifically, in certain embodiments
In, the first distance detector 14 of unmanned plane 100 includes global positioning system 142, barometer 144 and the first calculator 146.Entirely
Ball positioning system 142, barometer 144 and the first calculator 146 are respectively used to execute step S41, step S42 and step S43.?
That is the horizontal distance that global positioning system 142 is used to obtain unmanned plane 100 with respect to remote control equipment 200.Barometer 144 obtains
Take height of the unmanned plane 100 with respect to remote control equipment 200.First calculator 146 is used to be calculated according to horizontal distance and height and be remotely controlled
Distance D.Global positioning system 142 is electrically connected with the first calculator 146 with barometer 144, global positioning system 142 and air pressure
The data that meter 144 obtains, which are transmitted in the first calculator 146, to be handled.In some embodiments, global positioning system 142 is wrapped
Include but be not limited to the whole world of the GPS (Global Positioning System, GPS) in the U.S., Russia
Global position system (Globle Naviga2tion Satellite System, GLONASS), Chinese the Big Dipper and European gal
Benefit slightly in any one.
Referring to Fig. 7, above-mentioned control method can also be executed by remote control equipment 200, specifically, in certain embodiments
In, the second distance detector 24 of remote control equipment 200 includes that horizontal distance obtains module 242, height obtains module 244 and second
Calculator 246.Horizontal distance obtains module 242, height obtains module 244, the second calculator 246 is respectively used to execute step
S41, step S42 and step S43.It is set that is, horizontal distance obtains module 242 for obtaining the opposite remote control of unmanned plane 100
Standby 200 horizontal distance.Height obtains module 244 and obtains height of the unmanned plane 100 with respect to remote control equipment 200.Second calculator
246 for calculating remote control distance D according to horizontal distance and height.Horizontal distance obtains module 242 and height obtains module 244
It is electrically connected with the second calculator 246, horizontal distance obtains the data that module 242 obtains the acquisition of module 244 with height and is transferred to
It is handled in second calculator 246.Wherein, it includes but is not limited to GPS, GLONASS, Chinese Beidou that horizontal distance, which obtains module 242,
Any one in star and European galileo.It includes but is not limited to barometer that height, which obtains module 244,.
In this way, can be set with respect to the horizontal distance of remote control equipment 200 with the remote control relatively of unmanned plane 100 by unmanned plane 100
The remote control distance D between unmanned plane 100 and remote control equipment 200 is calculated in standby 200 height.
Referring to Fig. 8, in some embodiments, unmanned plane 100 and remote control equipment 200 respectively include first memory 16
With second memory 26, first memory 16 and second memory 26 are stored with preset truth table (such as the following table 1), truth table
Including distance range and setting transmission power corresponding with distance range, then the increase or holding unmanned plane or/and remote control are set
The step of standby signal transmission power (step S2) is to control unmanned plane 100 or/and distant with distance range according to remote control distance D
It controls equipment 200 and executes setting transmission power；Or/and
It is described reduction or holding unmanned plane 100 or/and remote control equipment 200 signal transmission power the step of (step S3) be
Unmanned plane 100 is controlled according to remote control distance and distance range or/and remote control equipment 200 executes setting transmission power.
It is to be discussed in detail according to remote control distance D and distance range to control unmanned plane 100 or/and remote control equipment 200 below
Execute setting transmission power: when remote control distance D changes in a distance range in truth table, unmanned plane 100 and remote control
The transmission power of equipment 200 remains unchanged, although be always held at for example, remote control distance D is changing (1,2] within the scope of km,
Then the transmission power of unmanned plane 100 remains 19dBm (decibel milliwatt), and the transmission power of remote control equipment 200 remains 19dBm.
When remote control distance D increases to another distance range from a distance range in truth table, for example, remote control distance D from (1,
2] km range increase to (2,3] km range, increase unmanned plane 100 and remote control equipment 200 transmission power, for example, unmanned plane 100
Transmission power increase to 22dBm from 19dBm, the transmission power of remote control equipment 200 increases to 22dBm from 19dBm.When remote control away from
When being reduced to another distance range from a distance range in truth table from D, for example, remote control distance D from (1,2] km range
Be reduced to remote control distance D from (0,1] km range, reduce unmanned plane 100 and remote control equipment 200 transmission power, for example, unmanned plane
100 transmission power is reduced to 16dBm from 19dBm, and the transmission power of remote control equipment 200 is reduced to 16dBm from 19dBm.In addition,
Distance range and setting transmission power in truth table 1 are obtained by practical field testing.In some embodiments, very
Value table needs to test to obtain to multiple and different external field environments.For example, external field environment includes: urban environment, maritime environment, mountain area
Environment, altitude environment etc..In this way, the transmission power of the unmanned plane 100 and remote control equipment 200 that obtain in truth table is more accurate.
Table 1
| Distance range D (km) | Remote controler sets transmission power (dBm) | Unmanned plane sets transmission power (dBm) |
| ≤1 | 16 | 16 |
| 1 D≤2 < | 19 | 19 |
| 2 D≤3 < | 22 | 22 |
| 3 D≤4 < | 25 | 25 |
| 4 < D | 28 | 28 |
In some embodiments, first memory 16 is electrically connected with the first processor 10 of unmanned plane 100, the first processing
Device 10 obtains the remote control distance D between unmanned plane 100 and remote control equipment 200 and is controlled according to the truth table in first memory 16
First transmitter 12 keeps or changes transmission power；Second memory 26 is electrically connected with the second processor 20 of remote control equipment 200,
Second processor 20 obtains the distance between unmanned plane 100 and remote control equipment 200 and according to the truth table in second memory 26
It controls the second transmitter 22 and keeps or change transmission power.In this way, ensuring the letter between unmanned plane 100 and remote control equipment 200
Under the premise of number capable of normally transmitting, reduces the transmission power of unmanned plane 100 and remote control equipment 200, on the one hand can save nothing
Man-machine 100 and remote control equipment 200 energy, avoid wasting；On the other hand, it avoids remaining maximum power to emit signal,
Reduce transmission power to the electromagnetic radiation of human body near remote control equipment 200, while also reducing and periphery electromagnetic environment is done
It disturbs.
Referring to Fig. 9, in some embodiments, step S4, tri- steps of step S1 and step S2 or step S3 can be every
It is executed every the first predetermined time interval T1 primary.That is, detecting the distance between unmanned plane 100 and remote control equipment 200, sentencing
Remote control distance D between disconnected unmanned plane 100 and remote control equipment 200 be increase or reduce, increase or keep unmanned plane 100 or/
With the signal transmission power of remote control equipment 200, or the signal transmitting of reduction or holding unmanned plane 100 or/and remote control equipment 200
Three steps of power execute primary every the first predetermined time interval T1.
Referring to Figure 6 together and Fig. 8, above-mentioned control method can also be executed by unmanned plane 100, specifically, certain
In embodiment, step S4 (in some embodiments, step S4 performed by the first distance detector 14 of unmanned plane 100
Including step S41, step S42 and step S43), performed by step S1 and the first transmitter 12 performed by first processor 10
Step S2 or step S3 executed every the first predetermined time interval T1 it is primary.
Referring to Figure 7 together and Fig. 8, above-mentioned control method can also be executed by remote controler 200, specifically, certain
In embodiment, step S4 (in some embodiments, step performed by the second distance detector 24 of remote control equipment 200
S4 includes step S41, step S42 and step S43), step S1 and the second transmitter 22 performed by second processor 20 held
Capable step S2 or step S3 executes primary every the first predetermined time interval T1.
In this way, every the first predetermined time interval T1 unmanned plane 100 and remote control equipment 200 detect respectively unmanned plane 100 and
Remote control distance D between remote control equipment 200, and then unmanned plane 100 and remote control can be changed in real time according to remote control distance D and truth table
The transmission power of equipment 200 is to execute the transmission power of change unmanned plane 100 and remote control equipment 200 in real time and ensure unmanned plane
The quality of signal transmitting between 100 and remote control equipment 200.
In some embodiments, the first predetermined time interval in control method, unmanned plane 100 and remote control equipment 200
T1 be any value of (0.001-1) within the scope of the second, for example, the first predetermined time interval T1 can for 0.001 second, 0.005 second,
0.01 second, 0.05 second, 0.1 second, 0.15 second, 0.2 second, 0.25 second, 0.3 second, 0.35 second, 0.4 second, 0.45 second, 0.5 second, 0.55
Second, 0.6 second, 0.65 second, 0.7 second, 0.75 second, 0.8 second, 0.85 second, 0.9 second, 0.95 second, 1 second.Specifically, the first pre- timing
Between be spaced T1 specific value can be selected according to the flying speed of unmanned plane 100.
Referring to Fig. 10, in some embodiments, step S1, that is, judge unmanned plane 100 and remote control equipment 200 it
Between remote control distance D be increase or reduce the step of the following steps are included:
S11 detects the current signal St of the signal receiver of unmanned plane 100 or/and remote control equipment 200；
S12 compares current signal St and one and refers to signal-to-noise ratio S0；
S13 confirms that remote control distance D increases if current signal St, which is less than, refers to signal-to-noise ratio S0；
S14 confirms that remote control distance D reduces if current signal St, which is greater than, refers to signal-to-noise ratio S0.
Wherein step S11, step S12 and step S13 or step S14 sequence execute.It wherein, is to pass through with reference to signal-to-noise ratio S0
Practical field testing unmanned plane 100 and determine, current signal St be with reference to signal-to-noise ratio S0 when, figure pass and control signal can
To transmit very well, no Caton or lost contact risk.Value range with reference to signal-to-noise ratio S0 is (- 4 to -2) dB, for example, with reference to noise
Value than S0 include -4db, -3.9db, -3.8db, -3.75db, -3.7db, -3.6db, -3.5db, -3.4db, -3.3db, -
3.25db、-3.2db、-3.1db、-3db、-2.9db、-2.8db、-2.75db、-2.7db、-2.6db、-2.5db、-2.4db、-
2.3db,-2.25db,-2.2db,-2.1db,-2db.It can be according to the flight speed of unmanned plane 100 with reference to the value of signal-to-noise ratio S0
Degree selection.Specifically, if the current signal St of unmanned plane 100 and remote control equipment 200, which is equal to, refers to signal-to-noise ratio S0, ensure nothing
Signal between man-machine 100 and remote control equipment 200 can be transmitted normally.If current signal St, which is less than, refers to signal-to-noise ratio S0, nothing
Man-machine 100 and remote control equipment 200 transmission power it is constant in the case where, then illustrate between unmanned plane 100 and remote control equipment 200
Signal Transfer Quality declines and illustrates that remote control distance D increases；If current signal St, which is greater than, refers to signal-to-noise ratio S0, unmanned plane 100
With the transmission power of remote control equipment 200 it is constant in the case where, then illustrate that signal between unmanned plane 100 and remote control equipment 200 passes
Mediator amount rises and illustrates that remote control distance D reduces.
Figure 11 is please referred to, above-mentioned control method can also be executed by unmanned plane 100, specifically, in certain embodiments
In, unmanned plane 100 further includes the first signal receiver 18 being electrically connected with first processor 10, and first processor 10 is also used to hold
Row step S11, step S12, step S13 and step S14.That is, first processor 10 is also used to detect unmanned plane 100
The current signal St of first signal receiver 18；Compare current signal St and one and refers to signal-to-noise ratio S0；And if current noise
It is less than than St and refers to signal-to-noise ratio S0, then confirms that remote control distance D increases；If current signal St, which is greater than, refers to signal-to-noise ratio S0, really
Recognize remote control distance D reduction.
Above-mentioned control method can also be executed by remote control equipment 200, and specifically, in some embodiments, remote control is set
Standby 200 further include the second signal receiver 28 being electrically connected with second processor 20, and second processor 20 is also used to execute step
S11, step S12, step S13 and step S14.That is, second processor 20 is also used to detect the second of remote control equipment 200
The current signal St of signal receiver 28；Compare current signal St and one and refers to signal-to-noise ratio S0；And if current signal St
Less than reference signal-to-noise ratio S0, then confirm that remote control distance D increases；If current signal St, which is greater than, refers to signal-to-noise ratio S0, confirm distant
Distance D is controlled to reduce.
Figure 12 and Figure 14 is please referred to, in some embodiments, step S2, that is, increase in remote control distance D (certain
In embodiment, refer to: current signal St is less than with reference to signal-to-noise ratio S0) Shi Zeng great or keeps unmanned plane 100 or/and remote control
The step of signal transmission power of equipment 200 includes:
S21 increases by one on the basis of the current demand signal transmission power of unmanned plane 100 or/and remote control equipment 200 and presets
Changing value Pstep is to obtain the signal transmission power of update, and keeping updated current signal St is with reference to signal-to-noise ratio S0.
When current signal St is with reference to signal-to-noise ratio S0, figure is passed and control signal can transmit very well, in this way, working as 100 He of unmanned plane
When the current signal St of remote control equipment 200 is equal to reference to signal-to-noise ratio S0, the remote control distance D of unmanned plane 100 and remote control equipment 200
Signal can normally be transmitted
Figure 11 is please referred to, above-mentioned control method can also be executed by unmanned plane 100, specifically, in certain embodiments
In, the first transmitter 12 of unmanned plane 100 is also used to execute step S21, that is to say, that emits in the current demand signal of unmanned plane 100
Increase a default changing value Pstep on the basis of power to obtain the signal transmission power of update, and keeps updated and work as
Preceding signal-to-noise ratio St is with reference to signal-to-noise ratio S0.
Above-mentioned control method can also be executed by remote control equipment 200, and specifically, in some embodiments, remote control is set
Standby 200 the second transmitter 22 is also used to execute step S21, that is to say, that in the current demand signal transmission power of remote control equipment 200
On the basis of increase a default changing value Pstep to obtain the signal transmission power of update, and keep updated current letter
Making an uproar than St is with reference to signal-to-noise ratio S0.
Figure 13 is please referred to, in some embodiments, step S3, that is, reduce in remote control distance D (in certain embodiment party
In formula, refer to: current signal St reduces or keeps unmanned plane 100 or/and remote control equipment when being greater than with reference to signal-to-noise ratio S0)
The step of 200 signal transmission power includes:
S31 calculates the current of the current signal St and a reference signal-to-noise ratio S0 of unmanned plane 100 or/and remote control equipment 200
Difference S；
S32 compares current difference S and a preset difference value δ S；
S33 keeps unmanned plane 100 or/and remote control equipment 200 if current difference S is less than or equal to preset difference value δ S
Current demand signal transmission power is constant；
S34, if current difference S is greater than preset difference value δ S, in unmanned plane 100 or/and the current demand signal of remote control equipment 200
Reduce a default changing value Pstep on the basis of transmission power to obtain the signal transmission power of update, and after keeping update
Current signal St be with reference to signal-to-noise ratio S0.
Generally, preset difference value δ S is greater than zero (S > 0 δ)；If current difference is less than preset difference value δ S, that is, current noise
Than St be greater than with reference to signal-to-noise ratio S0 and be less than or equal to reference to the sum of signal-to-noise ratio S0 and preset difference value δ S (it is, S0 < St≤
(S0+ δ S)), then keep the current demand signal transmission power of unmanned plane 100 or/and remote control equipment 200 constant；If current difference S is big
It is greater than in preset difference value δ S, that is, current signal St with reference to the sum of signal-to-noise ratio S0 and preset difference value δ S (namely St > (S0+
δ S)), then reduce a default variation on the basis of current demand signal transmission power of unmanned plane 100 or/and remote control equipment 200
Value Pstep is to obtain the signal transmission power of update.In this way, by be arranged preset difference value δ S can be avoided unmanned plane 100 or/and
Reduce a default changing value Pstep on the basis of the current demand signal transmission power of remote control equipment 200 and generates transmission power not
Stabilization.
Figure 11 is please referred to, above-mentioned control method can also be executed by unmanned plane 100, specifically, in certain embodiments
In, the first transmitter 12 of unmanned plane 100 is also used to execute step 31, step S32, step S33 and step S34, that is to say, that
First transmitter 12 is also used to:
Calculate current difference S of the current signal St and one with reference to signal-to-noise ratio S0 of unmanned plane 100；
Compare current difference S and a preset difference value δ S；
If current difference S is less than or equal to preset difference value δ S, the current letter that unmanned plane 100 keeps unmanned plane 100 is controlled
Number transmission power is constant；
If current difference S is greater than preset difference value δ S, the current demand signal for controlling unmanned plane 100 in unmanned plane 100 emits function
Reduce a default changing value Pstep on the basis of rate to obtain the signal transmission power of update, and keeps updated current
Signal-to-noise ratio St is with reference to signal-to-noise ratio S0.
Figure 11 is please referred to, above-mentioned control method can also be executed by remote control equipment 200, specifically, in certain embodiment party
In formula, the second transmitter 22 of remote control equipment 200 is also used to execute step 31, step S32, step S33 and step S34, also
It is to say, the second transmitter 22 is also used to:
Calculate current difference S of the current signal St and one with reference to signal-to-noise ratio S0 of remote control equipment 200；
Compare current difference S and a preset difference value δ S；
If current difference S is less than or equal to preset difference value δ S, controls remote control equipment 200 and kept for working as remote control equipment 200
Front signal transmission power is constant；
If current difference S is greater than preset difference value δ S, the current demand signal for controlling remote control equipment 200 in remote control equipment 200 is sent out
One default changing value Pstep of reduction is on the basis of penetrating power to obtain the signal transmission power of update, and keeps updated
Current signal St is with reference to signal-to-noise ratio S0.
Generally, step S1 (in some embodiments, step S1 includes step S11, step S12 and step S13) is held
Step S21 or step 31, step S32 and step S33 or step S34 are executed after the completion of row again.
In this way, being greater than when unmanned plane 100 and remote control equipment 200 receive signal-to-noise ratio St with reference to signal-to-noise ratio S0, that is to say, that
When remote control distance D between unmanned plane 100 and remote control equipment 200 reduces, reduce the transmitting of unmanned plane 100 and remote control equipment 200
Power or control unmanned plane 100 and the transmission power of remote control equipment 200 remain unchanged, and help ensuring unmanned plane 100 and distant
Under the premise of signal between control equipment 200 can be transmitted normally, unmanned plane 100 and remote control equipment 200 on the one hand can be saved
Energy, avoid wasting；On the other hand, it avoids remaining maximum power to emit signal, reduction transmission power sets remote control
The electromagnetic radiation of human body near standby 200, while also reducing the interference to periphery electromagnetic environment.
In some embodiments, the reference signal-to-noise ratio S0 in control method, unmanned plane 100 and remote control equipment 200 passes through
Practical field testing obtains.In some embodiments, the field testing to multiple and different environment is needed to obtain with reference to signal-to-noise ratio S0
It arrives.In some embodiments, it with reference to signal-to-noise ratio S0 needs that multiple and different external field environments is tested to obtain.For example, outfield ring
Border includes: urban environment, maritime environment, mountain area environment, altitude environment etc..In this way, can accurately be reacted with reference to signal-to-noise ratio S0
Remote control distance D and transmission power relationship between unmanned plane 100 and remote control equipment 200.
In some embodiments, the preset difference value δ S in control method, unmanned plane 100 and remote control equipment 200 be (2~
3) any value within the scope of dB, the value of preset difference value δ S include: 2db, 2.1db, 2.2db, 2.25db, 2.3db, 2.4db,
2.5db,2.6db,2.7db,2.75db,2.8db,2.9db,3db.The value of preset difference value δ S can be according to unmanned plane 100
Flying speed selection.In this way, preset difference value δ S be (2~3) dB within the scope of any value when, can be avoided unmanned plane 100 or/
With reduce a default changing value on the basis of the current demand signal transmission power of remote control equipment 200 and to generate transmission power unstable
Phenomenon.
In some embodiments, the default changing value Pstep in control method, unmanned plane 100 and remote control equipment 200 is
Any value within the scope of (0.5~1) dB, default changing value Pstep include: 0.5db, 0.55db, 0.6db, 0.65db,
0.7db,0.75db,0.8db,0.85db,0.9db,0.95db,1db.Default changing value Pstep can be according to unmanned plane 100
Flying speed selection.
Figure 14 is please referred to, in some embodiments, the signal of the detection unmanned plane 100 or/and remote control equipment 200 connects
The step of current signal St of receipts machine (include the steps that step S11) to obtain update signal transmission power (step S21 or
Step S33) or the step (step constant to the current demand signal transmission power of holding unmanned plane 100 or/and remote control equipment 200
It S34 is executed once every the second predetermined time interval T2.
Figure 11 is please referred to, above-mentioned control method can also be executed by unmanned plane 100, specifically, in certain embodiments
In, the current signal of the first signal receiver 18 of unmanned plane 100 is detected performed by the first processor 10 of unmanned plane 100
Signal transmission power step (the step S21 that acquisition updates performed by the step of St (including step S11) to the first transmitter 12
Or step S33) or the step (step constant to the current demand signal transmission power of holding unmanned plane 100 or/and remote control equipment 200
S34 it) is executed every the second predetermined time interval T2 primary.
Above-mentioned control method can also be executed by remote control equipment 200, and specifically, in some embodiments, remote control is set
The current signal St of the second signal receiver 28 of detection remote control equipment 200 performed by standby 200 second processor 20
Signal transmission power step (step S21 or the step that acquisition updates performed by step (including step S11) to the second transmitter 22
Rapid S33) or the step (step S34) constant to the current demand signal transmission power of holding unmanned plane 100 or/and remote control equipment 200
It is executed every the second predetermined time interval T2 primary.
In this way, each second predetermined time interval T2 unmanned plane 100 and remote control equipment 200 can obtain it is newest current
Signal-to-noise ratio, in order to unmanned plane 100 and remote control equipment 200 can according to current signal St, with reference to signal-to-noise ratio S0, preset difference value
δ S and default changing value Pstep obtains the signal transmission power updated, changes remote control equipment 200 and unmanned plane in real time to realize
100 transmission power.
In some embodiments, the second predetermined time interval in control method, unmanned plane 100 and remote control equipment 200
T2 is any value of (0.001-1) within the scope of the second, the value of the second predetermined time interval T2 includes: 0.001 second, 0.005 second,
0.01 second, 0.05 second, 0.1 second, 0.15 second, 0.2 second, 0.25 second, 0.3 second, 0.35 second, 0.4 second, 0.45 second, 0.5 second, 0.55
Second, 0.6 second, 0.65 second, 0.7 second, 0.75 second, 0.8 second, 0.85 second, 0.9 second, 0.95 second, 1 second.Second predetermined time interval T2
Value can be selected according to the flying speed of unmanned plane 100.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implementation
What the description of mode ", " example ", " specific example " or " some examples " etc. meant to describe in conjunction with the embodiment or example
Particular features, structures, materials, or characteristics are contained at least one embodiment or example of the invention.In this specification
In, schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific spy of description
Sign, structure, material or feature can be combined in any suitable manner in any one or more embodiments or example.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
Module, segment or the portion of the code of one or more executable instructions for the step of executing specific logical function or process
Point, and the range of the preferred embodiment of the present invention includes other execution, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for executing logic function, can specifically execute in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be executed with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware executes.It, and in another embodiment, can be under well known in the art for example, if executed with hardware
Any one of column technology or their combination execute: having a logic gates for executing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that execute all or part of the steps that above-mentioned implementation method carries
It is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer readable storage medium
In, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware execution, can also be executed in the form of software function module.The integrated module is such as
Fruit is executed and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (48)
1. a kind of control method, for controlling the signal transmission power of unmanned plane or remote control equipment, which is characterized in that the control
Method the following steps are included:
Judge that the remote control distance between the unmanned plane and the remote control equipment is to increase or reduce；
When the remote control distance increases, increase or keep the signal transmission power of the unmanned plane or/and the remote control equipment；
And
When the remote control distance is reduced, reduce or keep the signal transmission power of the unmanned plane or/and the remote control equipment.
2. control method as described in claim 1, which is characterized in that the control method is further comprising the steps of:
Detect the remote control distance between the unmanned plane and the remote control equipment.
3. control method as claimed in claim 2, which is characterized in that the detection unmanned plane and the remote control equipment it
Between remote control distance the step of include:
Obtain the horizontal distance of the relatively described remote control equipment of the unmanned plane；
Obtain the height of the relatively described remote control equipment of the unmanned plane；And
The remote control distance is calculated according to the horizontal distance and the height.
4. control method as claimed in claim 2, which is characterized in that the unmanned plane or/and the remote control equipment are including depositing
Reservoir, the memory are stored with preset truth table, and the truth table includes distance range and corresponding with the distance range
Setting transmission power, the increase or the step of keep the signal transmission power of the unmanned plane or/and the remote control equipment
It is that the unmanned plane or/and the remote control equipment execution setting are controlled according to the remote control distance and the distance range
Transmission power；Or/and
Described the step of reducing or keeping the signal transmission power of the unmanned plane or/and the remote control equipment is according to described distant
Control distance controls the unmanned plane with the distance range or/and the remote control equipment executes the setting transmission power.
5. control method as claimed in claim 4, which is characterized in that the distance range in the truth table and described set
Determine transmission power to obtain by practical field testing.
6. control method as claimed in claim 2, which is characterized in that the detection unmanned plane and the remote control equipment it
Between distance, the remote control distance judged between the unmanned plane and the remote control equipment be to increase or reduce, the increasing
Signal transmission power that is big or keeping the unmanned plane or/and the remote control equipment or the reduction keep the unmanned plane
Or/and three steps of the signal transmission power of the remote control equipment execute once every the first predetermined time interval.
7. control method as claimed in claim 6, which is characterized in that first predetermined time interval is (0.001-1) second
Any value in range.
8. control method as described in claim 1, which is characterized in that the judgement unmanned plane and the remote control equipment it
Between the remote control distance be increase or reduce the step of the following steps are included:
Detect the current signal of the signal receiver of the unmanned plane or/and the remote control equipment；
Compare the current signal and one with reference to signal-to-noise ratio；
If the current signal refers to signal-to-noise ratio less than described, confirm that the remote control distance increases；And
If the current signal refers to signal-to-noise ratio greater than described, confirm that the remote control distance reduces.
9. control method as claimed in claim 8, which is characterized in that described to increase or keep when the remote control distance increases
The step of signal transmission power of the unmanned plane or/and the remote control equipment includes:
Increase a default changing value on the basis of current demand signal transmission power of the unmanned plane or/and the remote control equipment
To obtain the signal transmission power updated, and keeping updated current signal is described with reference to signal-to-noise ratio.
10. control method as claimed in claim 8, which is characterized in that described to reduce or protect when the remote control distance is reduced
The step of holding the signal transmission power of the unmanned plane or/and the remote control equipment include:
Calculate the current difference of the current signal and a reference signal-to-noise ratio；
Compare the current difference and a preset difference value；
If the current difference is less than or equal to the preset difference value, the unmanned plane or/and the remote control equipment are kept
Current demand signal transmission power is constant；
If the current difference is greater than the preset difference value, in the unmanned plane or/and the current demand signal of the remote control equipment
Reduce a default changing value on the basis of transmission power to obtain the signal transmission power of update, and keeps updated current
Signal-to-noise ratio is described with reference to signal-to-noise ratio.
11. control method as claimed in claim 9, which is characterized in that the reference signal-to-noise ratio is (- 4 to -2) dB.
12. control method as claimed in claim 9, which is characterized in that described to be obtained with reference to signal-to-noise ratio by practical field testing
?.
13. control method as claimed in claim 10, which is characterized in that the preset difference value is appointing within the scope of (2~3) dB
Meaning value.
14. control method as claimed in claim 10, which is characterized in that the default changing value is within the scope of (0.5~1) dB
Any value.
15. the control method as described in claim 9 or 10, which is characterized in that the detection unmanned plane or/and described distant
The step of the step of controlling the current signal of the signal receiver of equipment to signal transmission power for obtaining the update, extremely protects
The constant step of current demand signal transmission power for holding the unmanned plane or/and the remote control equipment is every between the second predetermined time
It is primary every executing.
16. control method as claimed in claim 15, which is characterized in that second predetermined time interval is (0.001-1)
Any value in second range.
17. a kind of unmanned plane, which is characterized in that the unmanned plane is used to send signal to remote control equipment, and the unmanned plane includes:
Processor, for judging that the remote control distance between the unmanned plane and the remote control equipment is to increase or reduce；And
Transmitter is used for:
When the remote control distance increases, increase or keep the signal transmission power of the unmanned plane or/and the remote control equipment；
Or
When the remote control distance is reduced, reduce or keep the signal transmission power of the unmanned plane or/and the remote control equipment.
18. unmanned plane as claimed in claim 17, which is characterized in that the unmanned plane further include:
Distance detector, for detecting the remote control distance between the unmanned plane and the remote control equipment.
19. unmanned plane as claimed in claim 18, which is characterized in that the distance detector includes:
Global positioning system, for obtaining the horizontal distance of the relatively described remote control equipment of the unmanned plane；
Barometer, for obtaining the height of the relatively described remote control equipment of the unmanned plane；And
Calculator, for calculating the remote control distance according to the horizontal distance and the height.
20. unmanned plane as claimed in claim 18, which is characterized in that the unmanned plane includes memory, and the memory is deposited
Preset truth table is contained, the truth table includes distance range and setting transmission power corresponding with the distance range, institute
Stating transmitter is to control the unmanned plane according to the remote control distance and the distance range to execute the setting transmission power.
21. unmanned plane as claimed in claim 20, which is characterized in that the distance range in the truth table and described set
Determine transmission power to obtain by practical field testing.
22. unmanned plane as claimed in claim 18, which is characterized in that step performed by the distance detector, the place
Step performed by step performed by device and the transmitter is managed to execute once every the first predetermined time interval.
23. unmanned plane as claimed in claim 22, which is characterized in that first predetermined time interval is (0.001-1) second
Any value in range.
24. unmanned plane as claimed in claim 17, which is characterized in that the processor is also used to:
Detect the current signal of the signal receiver of the unmanned plane；
Compare the current signal and one with reference to signal-to-noise ratio；
If the current signal refers to signal-to-noise ratio less than described, confirm that the remote control distance increases；And
If the current signal refers to signal-to-noise ratio greater than described, confirm that the remote control distance reduces.
25. unmanned plane as claimed in claim 24, which is characterized in that the transmitter is also used in the current of the unmanned plane
Increase a default changing value on the basis of signal transmission power to obtain the signal transmission power of update, and keeps updated
Current signal is described with reference to signal-to-noise ratio.
26. unmanned plane as claimed in claim 24, which is characterized in that the transmitter is also used to:
Calculate the current difference of the current signal and a reference signal-to-noise ratio；
Compare the current difference and a preset difference value；
If the current difference is less than or equal to the preset difference value, controls the unmanned plane and keep the current of the unmanned plane
Signal transmission power is constant；
If the current difference is greater than the preset difference value, the current demand signal for controlling the unmanned plane in the unmanned plane emits
Reduce a default changing value on the basis of power to obtain the signal transmission power of update, and keeps updated current noise
Than referring to signal-to-noise ratio to be described.
27. unmanned plane as claimed in claim 25, which is characterized in that the reference signal-to-noise ratio is (- 4 to -2) dB.
28. unmanned plane as claimed in claim 25, which is characterized in that described to be obtained with reference to signal-to-noise ratio by practical field testing
?.
29. unmanned plane as claimed in claim 26, which is characterized in that the preset difference value is any within the scope of (2~3) dB
Value.
30. unmanned plane as claimed in claim 26, which is characterized in that the default changing value is within the scope of (0.5~1) dB
Any value.
31. the unmanned plane as described in claim 25 or 26, which is characterized in that described in the detection performed by the processor
The signal that acquisition updates performed by the step of current signal of the signal receiver of unmanned plane to the transmitter emits function
Rate step is executed every the second predetermined time interval to the step for keeping the current demand signal transmission power of the unmanned plane constant
Once.
32. unmanned plane as claimed in claim 31, which is characterized in that second predetermined time interval is (0.001-1) second
Any value in range.
33. a kind of remote control equipment, which is characterized in that the remote control equipment is used to send signal, the remote control equipment to unmanned plane
Include:
Processor, for judging that the remote control distance between the remote control equipment and unmanned plane is to increase or reduce；And
Transmitter is used for:
When the remote control distance increases, increase or keep the signal transmission power of the unmanned plane or/and the remote control equipment；
Or
When the remote control distance is reduced, reduce or keep the signal transmission power of the unmanned plane or/and the remote control equipment.
34. remote control equipment as claimed in claim 33, which is characterized in that the remote control equipment further include:
Distance detector, for detecting the remote control distance between the unmanned plane and the remote control equipment.
35. remote control equipment as claimed in claim 34, which is characterized in that the distance detector includes:
Horizontal distance obtains module, for obtaining the horizontal distance of the relatively described remote control equipment of the unmanned plane；
Height obtains module, for obtaining the height of the relatively described remote control equipment of the unmanned plane；And
Calculator, for calculating the remote control distance according to the horizontal distance and the height.
36. remote control equipment as claimed in claim 34, which is characterized in that the remote control equipment includes memory, the storage
Device is stored with preset truth table, and the truth table includes distance range and setting corresponding with distance range transmitting function
Rate, the transmitter are to control the remote control equipment according to the remote control distance and the distance range to execute the setting hair
Penetrate power.
37. remote control equipment as claimed in claim 36, which is characterized in that the distance range in the truth table and described
Transmission power is set to obtain by practical field testing.
38. remote control equipment as claimed in claim 34, which is characterized in that step performed by the distance detector, described
Step performed by step performed by processor and the transmitter executes primary every the first predetermined time interval.
39. remote control equipment as claimed in claim 38, which is characterized in that first predetermined time interval is (0.001-1)
Any value in second range.
40. remote control equipment as claimed in claim 33, which is characterized in that the processor is also used to:
Detect the current signal of the signal receiver of the remote control equipment；
Compare the current signal and one with reference to signal-to-noise ratio；
If the current signal refers to signal-to-noise ratio less than described, confirm that the remote control distance increases；And
If the current signal refers to signal-to-noise ratio greater than described, confirm that the remote control distance reduces.
41. remote control equipment as claimed in claim 40, which is characterized in that the transmitter is also used in the remote control equipment
Increase a default changing value on the basis of current demand signal transmission power to obtain the signal transmission power of update, and keeps updating
Current signal afterwards is described with reference to signal-to-noise ratio.
42. remote control equipment as claimed in claim 40, which is characterized in that the transmitter is also used to:
Calculate the current difference of the current signal and a reference signal-to-noise ratio；
Compare the current difference and a preset difference value；
If the current difference is less than or equal to the preset difference value, controls the remote control equipment and keep the remote control equipment
Current demand signal transmission power is constant；
If the current difference is greater than the preset difference value, the remote control equipment is controlled in the current demand signal of the remote control equipment
Reduce a default changing value on the basis of transmission power to obtain the signal transmission power of update, and keeps updated current
Signal-to-noise ratio is described with reference to signal-to-noise ratio.
43. remote control equipment as claimed in claim 41, which is characterized in that the reference signal-to-noise ratio is (- 4 to -2) dB.
44. remote control equipment as claimed in claim 41, which is characterized in that described to be obtained with reference to signal-to-noise ratio by practical field testing
?.
45. remote control equipment as claimed in claim 42, which is characterized in that the preset difference value is appointing within the scope of (2~3) dB
Meaning value.
46. remote control equipment as claimed in claim 42, which is characterized in that the default changing value is within the scope of (0.5~1) dB
Any value.
47. the remote control equipment as described in claim 41 or 42, which is characterized in that the detection institute performed by the processor
The signal hair that acquisition updates performed by the step of stating the current signal of the signal receiver of remote control equipment to the transmitter
The step of penetrating power or to the step for keeping the current demand signal transmission power of the remote control equipment constant every the second predetermined time
Interval executes primary.
48. remote control equipment as claimed in claim 47, which is characterized in that second predetermined time interval is (0.001-1)
Any value in second range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910043428.7A CN109544894B (en) | 2017-01-23 | 2017-01-23 | Control method, unmanned aerial vehicle and remote control equipment |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201780000097.8A CN107004345B (en) | 2017-01-23 | 2017-01-23 | Control method, unmanned plane and remote control equipment |
| PCT/CN2017/072265 WO2018133122A1 (en) | 2017-01-23 | 2017-01-23 | Control method, unmanned aerial vehicle, and remote-control device |
| CN201910043428.7A CN109544894B (en) | 2017-01-23 | 2017-01-23 | Control method, unmanned aerial vehicle and remote control equipment |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780000097.8A Division CN107004345B (en) | 2017-01-23 | 2017-01-23 | Control method, unmanned plane and remote control equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109544894A true CN109544894A (en) | 2019-03-29 |
| CN109544894B CN109544894B (en) | 2021-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910043428.7A Expired - Fee Related CN109544894B (en) | 2017-01-23 | 2017-01-23 | Control method, unmanned aerial vehicle and remote control equipment |
| CN201780000097.8A Expired - Fee Related CN107004345B (en) | 2017-01-23 | 2017-01-23 | Control method, unmanned plane and remote control equipment |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780000097.8A Expired - Fee Related CN107004345B (en) | 2017-01-23 | 2017-01-23 | Control method, unmanned plane and remote control equipment |
Country Status (3)
| Country | Link |
|---|---|
| US (2) | US10903897B2 (en) |
| CN (2) | CN109544894B (en) |
| WO (1) | WO2018133122A1 (en) |
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| CN113541763A (en) * | 2021-06-04 | 2021-10-22 | 常州希米智能科技有限公司 | Unmanned aerial vehicle video shooting transmission control method and device in chimney |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20190349076A1 (en) | 2019-11-14 |
| CN109544894B (en) | 2021-07-09 |
| US20210167848A1 (en) | 2021-06-03 |
| CN107004345B (en) | 2019-02-26 |
| WO2018133122A1 (en) | 2018-07-26 |
| CN107004345A (en) | 2017-08-01 |
| US10903897B2 (en) | 2021-01-26 |
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